Low-Dimensional Robotic Grasping: Eigengrasp Subspaces and Optimized Underactuation
نویسنده
چکیده
Low-Dimensional Robotic Grasping: Eigengrasp Subspaces and Optimized Underactuation
منابع مشابه
Hand Posture Subspaces for Dexterous Robotic Grasping
In this paper we focus on the concept of low-dimensional posture subspaces for artificial hands. We begin by discussing the applicability of a hand configuration subspace to the problem of automated grasp synthesis our results show that low-dimensional optimization can be instrumental in deriving effective pre-grasp shapes for a number of complex robotic hands. We then show that the computation...
متن کاملForce Analysis of Connected Differential Mechanisms: Application to Grasping
In this paper, a methodology is proposed for the analysis of the force capabilities of connected differential mechanisms. These systems are the key elements used to extend the principle of underactuation in grasping from the fingers to the hand itself. The concept of underactuation in robotic grasping— with fewer actuators than degrees of freedom (DOF)—allows the hand to adjust itself to an irr...
متن کاملGrasp Planning Using Low Dimensional Subspaces
In this chapter we explore the concept of low-dimensional posture subspaces for artificial hands. Recent advances in neuroscience research have shown that control of the human hand during grasping is dominated by movement in a configuration space of highly reduced dimensionality. This has led our group to explore how artificial hands may take advantage of similar subspaces to perform complex gr...
متن کاملMorphological and Embedded Computation in a Self-contained Soft Robotic Hand
We present a self-contained, soft robotic hand composed of soft pneumatic actuator modules that are equipped with strain and pressure sensing. We show how this data can be used to discern whether a grasp was successful. Colocating sensing and embedded computation with the actuators greatly simplifies control and system integration. Equipped with a small pump, the hand is self-contained and need...
متن کاملComment on “Hand synergies: Integration of robotics and neuroscience for understanding the control of biological and artificial hands” by M. Santello et al
Our understanding of how organisms control their limbs, i.e. systems with multiple muscles and joints, has had a profound and transformative impact on grasping and manipulation in robotics. Roboticists have struggled for a long time (and still do) with the algorithmic complexities that arise from the combinatorial explosion associated with the similarly high-dimensional problem of controlling r...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
عنوان ژورنال:
دوره شماره
صفحات -
تاریخ انتشار 2010